EnvSus-lectures

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! width="75%" colspan="2" | Control Engineering for Environment and Sustainability  
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Email: abubakr [at] lums.edu.pk
Email: abubakr [at] lums.edu.pk
-
===Lecture Series Description===
+
===Course Description===
 +
In Spring 2015, we underwent an interesting and unusual experiment in our EE curriculum, where in an introductory control engineering course ([[EE-361]]) we exposed our undergraduate students to issues of environment and sustainability. Designed as a series of 50 min recitations, we exposed students to contextual and societal issues in water, agriculture, disease etc., even while the content has strong example-based connections to the main text. Large parts of the lectures are accessible to engineering students at the Junior / Sophomore level and to general science & engineering faculty.
-
Design of linear feedback control systems for command-following, disturbance rejection, stability, and dynamic response specifications. Root-locus and frequency response design (Bode) techniques. Nyquist stability criterion. Design of dynamic compensators. State-space methods. Digitization and computer implementation issues. Integrated laboratory exercises on practical applications of control.
+
===Venue===
 +
EE361 Sec 1. Monday 11:30am. Venue. A4
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EE361 Sec 2. Thurs.   9:30am. Venue. 10-301.
 +
===General Objectives===
-
===Objectives===
+
* Introduce environmental issues and concepts of sustainability.  
-
The students should learn
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* How to connect technology to the real-world and solve societal grand challenges.
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* Use of control for achieving desired behavior in unstable and uncertain systems.  
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* An accessible introduction to cutting-edge research.  
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* Advantages and disadvantages of feedback in a system.  
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* Underline the importance of paying attention to the 'Right Problems!'
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* Open- and closed-loop control and their respective merits/demerits.  
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* Demonstrate how student involvement helps develop high impact research.
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* Stability and its relationship with feedback.
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* Introduce students to the general issues of water and agriculture in Pakistan.  
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* Techniques of linear time-invariant (LTI) control system design.  
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* Identify future areas of research and study.
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* Pervasiveness of feedback and control in science & engineering.  
+
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* Systems engineering tools for solving complex problems.  
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===Learning Outcomes===
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===Specific Objectives===
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The students will be able to:
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* Model physical systems, sensors and actuators in various settings using the language of signals and systems.
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* Introduce students to applications of control & robotics in everyday life.  
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* Identify state, measurement and control in a given problem.  
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* Demonstrate how to model complex systems like water and select appropriate abstraction and detail.  
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* Design controllers for linear models of systems using MATLAB and SIMULINK.  
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* Connect textbook knowledge of signals and systems to real-life control engineering.  
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* Implement digital controllers for various mechanical and electrical systems.  
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* Present examples of single-input single-output linear control design in complex scenarios.  
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* Predict and test control system performance.
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===Pre-requisites===
===Pre-requisites===
'''Courses'''
'''Courses'''
-
 
EE-310. Signals and Systems
EE-310. Signals and Systems
EE-361. Feedback Control Systems  
EE-361. Feedback Control Systems  
-
 
'''Topics'''
'''Topics'''
-
 
+
Laplace transform, differential equations, basic signals & systems
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Laplace transform, differential equations, programming in MATLAB and C.
+
== Schedule ==  
== Schedule ==  
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{|border="1"
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! WEEK !! SCHOOL CALENDAR !! TOPICS !! REFERENCES
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! LECTURE !! TOPICS !! REFERENCES
|-
|-
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| align ="left" | Week 1. January 24
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| align ="left" | Lecture 1
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| align ="left" | Jan 25. Classes begin.
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| align ="left" | River basins; Irrigation canal networks in the Indus river basin; water resources as cyber-physical systems; modeling open channel flows; distributed parameter systems  
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| align ="left" |  '''Lecture 1'''. Introduction to concepts of control, feedback, feedforward, uncertainty and robustness;
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| align ="left" | [[Media:Control-Engineering-Water-3Lectures-slides.pdf|Control Engineering in Water Resources (3 parts)]] 
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| align ="left" | Franklin Ch1; Astrom Ch.1;
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[[Media:Control-Engineering-Water-3Lectures-handout1.pdf|Handout 1]]
-
|-
+
|-  
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| align ="left" | Week 2. January 31
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| align ="left" | Lecture 2
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| align ="left" | Feb 1. Add/drop with full refund; Feb 5. Kashmir Day.
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| align ="left" | Lumped parameter models of irrigation channels; system identification of canals; building telemetry systems for water flow;  
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| align ="left" | '''Lecture 2'''. advantages of feedback control; process, plant, sensor, actuator, control and disturbance; cruise control example;
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| align ="left" | [[Media:Control-Engineering-Water-3Lectures-slides.pdf|Control Engineering in Water Resources (3 parts)]]  
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+
[[Media:Control-Engineering-Water-handout2.pdf|Handout 2]] 
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'''Lecture 3'''. Dynamical models; cruise control example revisited; introduction to On-Off and PID controllers 
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-
 
+
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'''Lecture 4'''. Review of Laplace transforms; impulse response; convolution;
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-
 
+
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'''Lab 1'''. Introduction to SIMULINK environment and real-time data acquisition.
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| align ="left" | Franklin Ch 2, Appendix A; Astrom Ch 1;
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-
 
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-
|-
+
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| align ="left" | Week 3. February 7
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| align ="left" | Feb 10. Second payment deadline
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| align ="left" | '''Lecture 5'''. Block diagrams; modeling examples; electromechanical systems;
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-
 
+
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'''Lecture 6'''. Uses of feedback; robustness against parameter variation; creating inversion via feedback;
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-
 
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'''Lab 2'''. Modeling systems and control in SIMULINK. Cruise control and water tank systems.
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| align ="left" | Franklin Ch 2; Oppenheim Sec 11.2;
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-
|-
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| align ="left" | Week 4. February 14
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| align ="left" | Feb 16. Eid Milad-un-Nabi
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| align ="left" | '''Lecture 7'''. Second order models of electrical and mechanical systems; rational transfer functions; poles and zeros;
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-
 
+
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+
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'''Lecture 8.''' Dynamic response. Unit impulse, step and ramp responses of first order systems; impulse and unit responses of second order system; damping ratio, natural frequency, Q-factor of 2nd order systems; effects of pole positions in the complex plane;
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-
 
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'''Lecture 9'''. Modeling examples; Atomic Force Microscopy (AFM); voltage clamp in neuroscience; internet congestion control (TCP).
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-
 
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| align ="left" | Franklin Ch 3; Astrom Ch 2,3;
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'''Extras.''' [http://thevirtualheart.org/HHindex.html Hodgkin Huxley Model]; [[Media:AFM_slides.pdf|Slides on AFM.]]
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+
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+
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|-
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| align ="left" | Week 5. February 21
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| align ="left" |  
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| align ="left" |
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'''Lecture 10.''' Control specifications via rise time, overshoots, settling time; Meeting control specifications via a second order response;
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'''Lecture 11.''' Internal stability and BIBO stability; stability of LTI systems; Effects of Zeros on response; Pole-Zero cancellation.
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-
 
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'''Lab 3'''. Position control of a DC motor.
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| align ="left" | Franklin Ch 3;
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-
|-
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| align ="left" | Week 6. February 28
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| align ="left" | March 1. Drop with penalty
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| align ="left" |
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'''Lecture 12.''' Routh's criterion for stability; examples on computing Routh's array. Examples on using Routh's criterion;
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-
 
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'''Lecture 13.''' Errors in open loop and closed loop control; Robustness against disturbances; Bode's sensitivity function; Watt's problem of disturbance rejection.
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-
 
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'''Lab 3''' (contd.) Position control of a DC motor.
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| align ="left" | Franklin Ch3, 4;
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-
 
+
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'''Extras.''' [http://webee.technion.ac.il/courses/044130/oldpages/science.pdf Proof of Routh-Hurtwitz]
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-
|-
+
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| align ="left" | Week 7. March 7
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| align ="left" |
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| align ="left" | '''Lecture 14.''' Bode's sensitivity function; Black's feedback amplifier design problem; comparing open loop and feedback topologies;
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-
 
+
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'''Lecture 15''' compensating steady state errors; systems types.
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-
 
+
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'''Lab 4.''' Digital control of an HVAC-like thermal system.
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-
 
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| align ="left" | Franklin Ch4.
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-
|-
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| align ="left" | Week 8. March 14
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| align ="left" | Midterm exams
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| align ="left" |
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'''Lecture 16.''' Dynamic errors; PID control; Limitations of P, PI, PD controllers; Introduction to root locus design;
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-
 
+
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'''Lecture 17.''' Motivational examples; MATLAB commands for drawing root-locus; general properties of root loci;
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-
 
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'''Midterm Exam'''.
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| align ="left" | Franklin Ch4, 5; Astrom 10.1;
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-
|-
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| align ="left" | Week 9. March 21
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| align ="left" | Mid semester break
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| align ="left" |
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| align ="left" |
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-
|-
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| align ="left" | Week 10. March 28
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| align ="left" |
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| align ="left" | '''Lecture 18.''' Examples of design using root locus; effects of additional poles and zeros;
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-
 
+
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'''Lecture 19.''' introduction to dynamic compensation;
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-
 
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'''Lab 5'''. Anti windup in controller design.
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-
 
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| align ="left" | Franklin Ch 5;
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-
|-
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| align ="left" | Week 11. April 4
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| align ="left" |
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| align ="left" |  '''Lecture 20.''' Examples of root-locus design;
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-
 
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'''Lecture 21.''' Lead, lag and notch compensators using root locus.
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-
 
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'''Lab 6'''. Digital speed control of DC motor.
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| align ="left" | Franklin Ch 5;
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-
|-
+
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| align ="left" | Week 12. April 11
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| align ="left" |
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| align ="left" | '''Lecture 22.''' Frequency domain design methods; Frequency response of a control system; bandwidth; Overshoots
+
-
 
+
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'''Lecture 23.''' Frequency response (contd.); Second order systems; Bode plots; Neutral stability
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-
 
+
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'''Lab 7'''. Discrete-time controller implementation.
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| align ="left" | Franklin Ch 6;
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-
|-
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| align ="left" | Week 13. April 18
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-
| align ="left" |  
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| align ="left" | '''Lecture 24.''' Cauchy's residue theorem; Encirclement property
+
-
 
+
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'''Lecture 25.''' Argument principle; Nyquist plots; Examples 
+
-
 
+
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'''Lab 8'''. Practical system identification.
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| align ="left" | Franklin Ch 6;
+
-
|-
+
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| align ="left" | Week 14. April 25
+
-
| align ="left" | 
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| align ="left" | '''Lecture 26.''' Gain and Phase Margins; Frequency based control design basics
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-
 
+
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'''Lecture 27.''' Minimum phase systems; Bode's gain-phase relationship; PD control re-interpreted;
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-
 
+
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'''Lab 9'''. Inverted pendulum stabilization using state space methods.
+
-
 
+
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| align ="left" | Franklin Ch 6;
+
-
|-
+
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| align ="left" | Week 15. May 2
+
-
| align ="left" |
+
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| align ="left" | '''Lecture 28.''' PD control by lead compensation; design examples
+
-
 
+
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'''Lecture 29.''' PI control; lag compensation; lag-lead compensation; PID control
+
-
 
+
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'''Lab 10'''. Case Study on Control System Design.
+
-
 
+
-
| align ="left" | Franklin Ch 6;
+
|-
|-
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| align ="left" | Week 16. May 9
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| align ="left" | Lecture 3
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| align ="left" | May 9. Last day of classes; May 10-11. Reading and Reviewing period; May 12-18. Final Exams.
+
| align ="left" | Control design for downstream control; distributed control of complex irrigation networks; security of cyber-physical systems; detection of non-technical losses;
-
| align ="left" |  
+
| align ="left" | [[Media:Control-Engineering-Water-3Lectures-slides.pdf|Control Engineering in Water Resources (3 parts)]] 
-
| align ="left" |  
+
[[Media:Control-Engineering-Water-handout3.pdf|Handout 3]] 
|-
|-
-
| align ="left" | Week 17. May 16
+
| align ="left" | Lecture 4
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| align ="left" | May 14-21. Final Exams
+
| align ="left" | Agricultural profile of Pakistan; elements of Green revolution; ICT driven Precision Agriculture technologies; GPS auto-steering; satellite imaging; control technologies in variable rate input; 
-
| align ="left" |  
+
| align ="left" | [[Media:Control-Robotics-Agriculture-2Lectures-slides.pdf|Robotics and Control in Agriculture (2 parts)]] 
-
| align ="left" |  
+
[[Media:Robotics-Control-Ag-handout1.pdf|Handout 4]] 
|-
|-
-
| align ="left" | Week 18. May 23
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| align ="left" | Lecture 5
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| align ="left" | May 19-27. Semester break; May 31. Final grades submission
+
| align ="left" | Agricultural robotics; sensing, control and decision in Ag robotics; examples from leading research groups; challenges of small farming and the potential of Ag robotics; 
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| align ="left" |  
+
| align ="left" | [[Media:Control-Robotics-Agriculture-2Lectures-slides.pdf|Robotics and Control in Agriculture (2 parts)]] 
-
| align ="left" |  
+
[[Media:Robotics-Control-Ag-handout2.pdf|Handout 5]] 
|-
|-
|}
|}

Current revision

Control Engineering for Environment and Sustainability



Instructors

Dr. Abubakr Muhammad, Assistant Professor of Electrical Engineering

Email: abubakr [at] lums.edu.pk

Course Description

In Spring 2015, we underwent an interesting and unusual experiment in our EE curriculum, where in an introductory control engineering course (EE-361) we exposed our undergraduate students to issues of environment and sustainability. Designed as a series of 50 min recitations, we exposed students to contextual and societal issues in water, agriculture, disease etc., even while the content has strong example-based connections to the main text. Large parts of the lectures are accessible to engineering students at the Junior / Sophomore level and to general science & engineering faculty.

Venue

EE361 Sec 1. Monday 11:30am. Venue. A4 EE361 Sec 2. Thurs. 9:30am. Venue. 10-301.

General Objectives

  • Introduce environmental issues and concepts of sustainability.
  • How to connect technology to the real-world and solve societal grand challenges.
  • An accessible introduction to cutting-edge research.
  • Underline the importance of paying attention to the 'Right Problems!'
  • Demonstrate how student involvement helps develop high impact research.
  • Introduce students to the general issues of water and agriculture in Pakistan.
  • Identify future areas of research and study.

Specific Objectives

  • Introduce students to applications of control & robotics in everyday life.
  • Demonstrate how to model complex systems like water and select appropriate abstraction and detail.
  • Connect textbook knowledge of signals and systems to real-life control engineering.
  • Present examples of single-input single-output linear control design in complex scenarios.

Pre-requisites

Courses EE-310. Signals and Systems EE-361. Feedback Control Systems

Topics Laplace transform, differential equations, basic signals & systems

Schedule

LECTURE TOPICS REFERENCES
Lecture 1 River basins; Irrigation canal networks in the Indus river basin; water resources as cyber-physical systems; modeling open channel flows; distributed parameter systems Control Engineering in Water Resources (3 parts)

Handout 1

Lecture 2 Lumped parameter models of irrigation channels; system identification of canals; building telemetry systems for water flow; Control Engineering in Water Resources (3 parts)

Handout 2

Lecture 3 Control design for downstream control; distributed control of complex irrigation networks; security of cyber-physical systems; detection of non-technical losses; Control Engineering in Water Resources (3 parts)

Handout 3

Lecture 4 Agricultural profile of Pakistan; elements of Green revolution; ICT driven Precision Agriculture technologies; GPS auto-steering; satellite imaging; control technologies in variable rate input; Robotics and Control in Agriculture (2 parts)

Handout 4

Lecture 5 Agricultural robotics; sensing, control and decision in Ag robotics; examples from leading research groups; challenges of small farming and the potential of Ag robotics; Robotics and Control in Agriculture (2 parts)

Handout 5

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